Fig. 5.

Parameterization definition: we assume that the entry and exit points x⃗₀ and x⃗ _t, as well as the direction n⃗₀ are defined. For any arbitrarily selected x⃗₁ there exists only one circular arc passing through it, so by fixing the location of x⃗₁ we fully define the first section (A). Since specifying x⃗_i also defines the direction n⃗_i for the next section x⃗_{i + 1}, we can recursively specify points x⃗₁, …, x⃗_N−1, with x⃗_N = x⃗_t and thus fully define a unique N- sectioned robot (B).